#include <gtest/gtest.h>#include <vector>#include <string>#include <ros/ros.h>#include <eigen_conversions/eigen_msg.h>#include <moveit_opw_kinematics_plugin/moveit_opw_kinematics_plugin.h>#include "test_utils.h"
Include dependency graph for test_kuka_specific.cpp:
Go to the source code of this file.
Classes | |
| class | TestKukaSpecific |
Functions | |
| TEST_F (TestKukaSpecific, positionFKAllZero) | |
| TEST_F (TestKukaSpecific, positionFKCheckSigns) | |
Function Documentation
| TEST_F | ( | TestKukaSpecific | , |
| positionFKAllZero | |||
| ) |
check forward kinematics for robot home position
Calculate by hand position and oriention of tool0 when all joint angles are zero px = a1 + c2 + c3 + c4 py = 0 pz = c1 + a2
Definition at line 31 of file test_kuka_specific.cpp.
| TEST_F | ( | TestKukaSpecific | , |
| positionFKCheckSigns | |||
| ) |
check forward kinematics for a known position
WARNING: Ugly add hoc test This test is meant to catch errors in the specified joint_signed_corrections of joint 1, 4 and 6. We really need more general tests to check for consistency with the URDF.
Definition at line 59 of file test_kuka_specific.cpp.